# Navigation stack not working \[ROS2, RE3\]

**URL:** https://forum.hello-robot.com/t/navigation-stack-not-working-ros2-re3/931
**Category:** Ask
**Created:** [March 13, 2024, 8:47pm UTC](https://forum.hello-robot.com/t/navigation-stack-not-working-ros2-re3/931 "2024-03-13T20:47:38Z")
**Posts on this page:** 4
**Page:** 1

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### Author: ![Peiqi\_Liu](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/peiqi_liu/32/536_2.png) [@Peiqi\_Liu](https://forum.hello-robot.com/u/Peiqi_Liu)
#### Post date: [March 13, 2024, 8:47pm UTC](https://forum.hello-robot.com/t/navigation-stack-not-working-ros2-re3/931/1 "2024-03-13T20:47:38Z")

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Hello,  
I tried to run [this navigation demo](https://docs.hello-robot.com/0.3/getting_started/demos_mapping_and_navigation/) on a Stretch RE3 robot but I met this error

 ![1710359601349](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/d24f2c2409bf97e52c3a97404dc41b9b907d5d2f.png)

The ros process then directly exited.

The command I ran was

> ros2 launch stretch\_nav2 offline\_mapping.launch.py teleop\_type:=keyboard

Do you have any idea what might go wrong?

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### Author: ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)
#### Post date: [March 20, 2024, 3:10am UTC](https://forum.hello-robot.com/t/navigation-stack-not-working-ros2-re3/931/2 "2024-03-20T03:10:55Z")

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Hi @Peiqi_Liu, I was able to reproduce the errors you’re seeing by running that command while SSH-ed into the robot. In particular, I SSH-ed into Stretch without X-forwarding enabled, and then ran `ros2 launch ...`. Then, when Rviz tries to start, and fails because X (X is the window manager for Linux) is inactive, the rest of the nodes are automatically exited. Are you SSH-ing into Stretch when you tried that command? If so, you can include `use_rviz:=false`, so Rviz doesn’t attempt to launch on the robot and instead launch Rviz on your PC.

Also, note that `teleop_type:=keyboard` [isn’t implemented yet](https://github.com/hello-robot/stretch_ros2/blob/b77baa164325d96e568a76527f21432802459b08/stretch_nav2/launch/teleop_twist.launch.py#L26-L35).

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<div class="post-metadata">

### Author: ![Peiqi\_Liu](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/peiqi_liu/32/536_2.png) [@Peiqi\_Liu](https://forum.hello-robot.com/u/Peiqi_Liu)
#### Post date: [March 21, 2024, 4:51pm UTC](https://forum.hello-robot.com/t/navigation-stack-not-working-ros2-re3/931/3 "2024-03-21T16:51:50Z")

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Hello Binit,  
here is the new output after setting use\_rviz to false:

 ![1711039857994](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/05059ac104d5b10e27719a8de11a604d1df6dc27.jpeg)  
After that the process does not exit. I think this means the offline mapping (`ros2 launch stretch_nav2 offline_mapping.launch.py`) is running properly?

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<div class="post-metadata">

### Author: ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)
#### Post date: [March 27, 2024, 3:15am UTC](https://forum.hello-robot.com/t/navigation-stack-not-working-ros2-re3/931/4 "2024-03-27T03:15:28Z")

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Hi @Peiqi_Liu, yes, that’s correct. You can visualize the map as it’s being built by opening Rviz on your PC.